Harvesting and grafting of trees

ABSTRACT

A tree harvester includes a body and a harvesting system coupled to the body. The tree harvester further includes a control system coupled to the body. The control system is configured to receive data from the harvesting system regarding a characteristic of a harvested tree and control operation of the harvesting system based on the data. The harvesting system is configured to remove an intermediate portion of the harvested tree below a tree crown and graft the tree crown to a tree stump.

BACKGROUND

Trees are harvested for a variety of reasons including, for example, theproduction of pulp, paper, and other wood-based products. Additionally,trees may be harvested to control the growth of forests. If the stumpsof harvested trees are not cleared with the harvest, root-system decayand unwanted carbon pollution may occur. To repopulate the forest, treeharvesters practice a variety of techniques, including selectiveharvesting and replanting. Selective harvesting includes using seedtrees, shelterwood cutting, group selection, and single-tree harvesting,with such methods designed to remove only certain trees while theremaining trees are left to spur other tree growth.

SUMMARY

One embodiment relates to a tree harvester comprising a body; aharvesting system coupled to the body and configured to: remove anintermediate portion of a harvested tree below a tree crown and graftthe tree crown to a tree stump; and a control system coupled to the bodyand configured to: receive data from the harvesting system regarding acharacteristic of the harvested tree and control operation of theharvesting system based on the data.

Another embodiment relates to a tree harvester comprising a body; aharvesting system coupled to the body; a control system coupled to thebody and configured to: receive data from the harvesting systemregarding a characteristic of a harvested tree and control operation ofthe harvesting system based on the data; wherein the harvesting systemis configured to: support a crown of the harvested tree, remove anintermediate portion of the harvested tree below the crown, and connecta vascular cambium of the crown to a vascular cambium of a tree stumpusing an insert while supporting the crown.

Still another embodiment relates to a tree harvester comprising a body;a harvesting system coupled to the body; a control system coupled to thebody and configured to: receive data from the harvesting systemregarding a characteristic of a harvested tree and control operation ofthe harvesting system based on the data; wherein the harvesting systemis configured to: remove an intermediate portion of the harvested treebelow a tree crown, use a shaper to modify the shape of at least one ofthe tree crown and a tree stump, and graft the tree crown to the treestump.

Yet another embodiment relates to a method of harvesting trees, themethod comprising: acquiring data regarding a plurality of trees;selecting one of the plurality of trees based on the data; removing anintermediate portion of the selected tree between a crown and a stump;aligning the crown and the stump; and grafting the crown to the stump.

A further embodiment relates to a method of grafting a crown to a stumpafter harvesting an intermediate portion of a tree, the methodcomprising: acquiring data about the crown and stump; determiningwhether the crown and stump are compatible based on the data; modifyingat least one of the crown and stump using a shaper; and grafting thecrown to the stump.

Another embodiment relates to a method of grafting trees, the methodcomprising: acquiring data regarding a plurality of trees; selecting oneof the plurality of trees based on the data; removing an intermediateportion of the tree between a crown and a stump; identifying acompatible stump suitable for grafting with the crown; and grafting thecrown to the compatible stump.

Still another embodiment relates a tree harvesting system, the systemcomprising: a harvesting system configured to harvest an intermediateportion of a selected tree and to graft a crown of the selected treewith a tree stump; and a control system coupled to the harvestingsystem, wherein the control system is configured to: receive dataregarding a plurality of trees from the harvesting system and identifythe selected tree based on the data.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an isometric view of a tree harvester and a tree, according toone embodiment.

FIG. 2 is a front view of a tree, according to one embodiment.

FIG. 3 is an isometric view of a tree harvester with an intermediateportion of a tree harvested, according to one embodiment.

FIG. 4 is a front view of a fastener securing the crown to the stump,according to one embodiment.

FIG. 5A is a front view of an insert connecting the vascular cambium ofthe crown with that of the stump, according to one embodiment.

FIG. 5B is a front view of an insert connecting the vascular cambium ofthe crown with the vascular cambium of the stump, according to oneembodiment.

FIG. 6A is a front view of a crown with a section removed and astretcher, according to one embodiment.

FIG. 6B is a front view of a stump with a portion removed and acompactor, according to one embodiment.

FIG. 7 is a diagram of a control system connected to a harvestingsystem, according to one embodiment.

FIG. 8 is a flow diagram illustrating a method of tree harvesting,according to one embodiment.

FIG. 9 is a flow diagram illustrating a method of grafting, according toone embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part thereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here.

Referring to the figures generally, various embodiments disclosed hereinrelate to tree harvesting and/or tree grafting systems. One or moretrees may be selected for harvest based on a variety of factors, such assize, location, age, health, foliage area, and the like. A portion ofthe tree (e.g., an intermediate portion between the top of the tree andthe tree stump) is harvested. The intermediate portion may be harvestedfor a variety of reasons, including to make lumber, wood pellets, paper,and pulp. The top of the tree may then be grafted on to the stump of thetree. Harvesting and grafting in this way may promote faster growth ofnew trees and avoid unnecessary stump removal operations and/orundesirable carbon pollution resulting from leaving an unused stump inplace. As discussed in greater detail below, various techniques may beutilized to select appropriate trees, harvest desired portions of theselected trees, and/or use the remaining (unharvested) portions of thetrees to provide newly grafted trees. In some embodiments, the treeharvesting systems include robotic mechanisms configured to automate theharvesting of intermediate portions of trees and the grafting of theremaining portions.

Referring now to FIG. 1, tree harvester 100 is shown according to oneembodiment. Tree harvester 100 includes harvesting system 110 andcontrol system 120, both coupled to body 101. Body 101 can be or includea vehicle, such as a truck or similar vehicle. Coupled to control system120 is sensor 115 configured to acquire information about tree 150(e.g., by emitting a beam such as a ray or wave, by capturing stilland/or video images, etc.). In general, tree harvester 100 is configuredto identify one or more trees, harvest a portion of each of the trees,and then graft a remaining top portion of the tree to the remainingstump of the tree (or alternatively, the stump of a different harvestedtree that may be more suitable for grafting).

Harvesting system 110 includes first cutter 111 and second cutter 112.First and second cutters 111, 112 are configured to remove a section oftree 150 (e.g., an intermediate portion of tree 150 between a topportion of the tree and the stump of the tree). Harvesting system 110further includes grabber 114 and loader 113. Grabber 114 is configuredto hold the top or crown of tree 150, while loader 113 holds andtransports an intermediate portion of tree 150. After loader 113 removesthe intermediate portion of tree 150 for harvesting, grabber 114 lowersthe crown onto the stump to promote regrowth of the harvested tree. Insome alternative embodiments, harvesting system 110 may comprisemultiple machines, rather than a single vehicle. For instance, onemachine may harvest the intermediate portion of the tree, while anothermachine performs the grafting of the crown to the stump. In someembodiments, removal of the intermediate portion to a distal facility isperformed by a separate machine, rather than by tree harvester 100.

According to various alternative embodiments, sensor 115 may utilize anyone or a combination of scanning or data acquisition techniques todetermine characteristics of trees to be potentially harvested. Forexample, sensor 115 can utilize wireless protocols 140, such aselectromagnetic waves, three-dimensional scanning, x-rays, videosystems, camera systems, microwaves, infrared lasers, lasers,ultrasound, and/or lidar to detect tree 150 and acquire informationabout tree 150. Sensor 115 can utilize ground penetrating radar toacquire information about root portions of tree 150. The acquiredinformation is then transmitted to control system 120. In an alternativeembodiment, sensor 115 can employ sampler 116 (e.g., a core sampler,etc.) to physically take internal and/or external specimens of tree 150.The samples can be analyzed by control system 120 to acquire informationabout tree 150.

Referring to FIG. 2, sensor 115 analyzing tree 150 is shown according toone embodiment. Sensor 115 is configured to acquire data pertaining tointermediate portion 200 as well as about the entirety of tree 150.Sensor 115 can detect and transmit various information to control system120 about intermediate portion 200, including its length 205, diameter210, and/or volume 206. Sensor 115 is also configured to acquire datapertaining to an indication of at least one of the age and health oftree 150, and in particular, intermediate portion 200. Health data canindicate, among other things, the presence of viruses, bacteria, fungi,and/or the presence or absence of early deterioration of the tree.

Still referring to FIG. 2, sensor 115 can be further configured toacquire information about crown 310 and stump 320 (FIG. 3) of tree 150,including root system 220. Information pertaining to crown 310 caninclude length, width, occupied planform, an indication of health,presence or absence of healthy leaves, extent of leaf coverage,photosynthetic capture area, an indication of the presence and/or healthof the vascular cambia, xylem, and phloem, and combinations of any ofthese factors. The height of crown 310 can be used by control system 120to determine solar access of a would-be grafted tree. In addition,information pertaining to root system 220 can include the presence andhealth of lateral and primary roots, root hairs, root tip, root cap, thebeneath ground root-occupied area, an indication of the presence and/orhealth of the vascular cambia, xylem, and phloem, and combinations ofany of these factors. According to various other embodiments, sensor 115can be configured to acquire various other types of information abouttree 150, including, for example, the type and location of tree 150,etc.

Sampler 116 can be configured to acquire any of the informationmentioned in regard to sensor 115. Sampler 116 can utilize any one or acombination of appropriate mechanisms to capture information and dataregarding tree 150. For example, sampler 116 can utilize a cutter toremove specific specimens of tree 150. Those specimens can then beanalyzed. Analysis can take place on tree harvester 100 via controlsystem 120, or in a remote lab. Various types of data, including anindication of the age, type, and health of cambium, xylem, and phloem,can all be extracted from the specimens.

Tree harvester 100 can employ sampler 116 and sensor 115 independentlyor in some combination to acquire desired data regarding one or moretrees such as tree 150. The acquired data, either physical samples fromsampler 116 or electronic data from sensor 115, can be subsequentlytransmitted to control system 120. Based on the data received fromsensor 115 and/or sampler 116, various information regarding the treecan then be provided to, for example, operator 130 of tree harvester100. Operator 130 (who may be on-board tree harvester 100 or remotelycontrolling it via telemetry) can then determine whether or not toinstruct harvesting system 110 to select tree 150 and harvestintermediate portion 200.

In an alternative embodiment, control system 120 is configured toautomatically determine whether to select tree 150 for harvesting basedon the data acquired by sensor 115 and/or sampler 116 (e.g., by way ofan appropriate algorithm, formula, program, etc.). Moreover, dependingon the goal of the tree harvesting, tree selection can be based on oneor a multitude of characteristics acquired by sensor 115 or sampler 116.For example, intermediate portion 200 may need to be a particular length205 or diameter 210 to warrant harvesting without regard tocharacteristics about crown 310, stump 320, and/or root system 220.Alternatively, intermediate portion 200 can be chosen based on apredicted growth capability and/or grafting compatibility of the treeafter removal of intermediate portion 200. If the predicted growthcapability and/or grafting compatibility of the resulting crown andstump is not satisfactory, the amount of intermediate portion 200selected may be decreased, increased, or alternatively, the tree may notbe selected entirely.

Referring to FIG. 3, tree harvester 100 removing intermediate portion200 is shown according to one embodiment. After intermediate portion 200is removed from tree 150, loader 113 transports intermediate portion 200to storage area 301. Storage area 301 can be/include a flatbed truck, atrailer, an open or enclosed box, etc. Storage area 301 can furtherinclude two storage areas, e.g., initial storage on the ground, and thenlater storage with a flatbed truck, a trailer, an open or enclosed box,etc. According to one embodiment, loader 113 includes adjustable clampsor tongs, adjustable rods, and/or insertable platforms configured tohold and transport intermediate portion 200.

Still referring to FIG. 3, according to one embodiment, first cutter 111is used to sever intermediate portion 200 from crown 310 of tree 150.Second cutter 112 is used to sever intermediate portion 200 from stump320. According to another embodiment, cutter 111 may be employed tosever intermediate portion 200 from both crown 310 and stump 320 of tree150 (e.g., such that only a single cutter is required). Moreover,cutters 111, 112 can include any one of a variety of cutting devices,including shears, knives, saws, drills, hammer and wedge systems,penetrating lasers, etc. Cutters 111 and 112 may be utilized indifferent orders, i.e., in some embodiments crown 310 is removed whileintermediate portion 200 is still connected to tree 150, while in otherembodiments, crown 310 and intermediate portion 200 are first severedfrom stump 320 as a unit, and then later are separated from each other;this latter separation may be performed while they are being heldvertical, or while they are horizontal (e.g., resting on the ground). Insome embodiments, tree harvester 100 uses a third cutter (oralternatively uses first cutter 111 or second cutter 112) to removeexisting branches from intermediate portion 200 (e.g., for more compactstorage in storage area 301).

Grabber 114 is configured to hold and transport crown 310 of tree 150during and/or after removal of intermediate portion 200. According tovarious alternative embodiments, grabber 114 can include hydraulic,pneumatic, fuel, and/or electronically-powered grabbing devices such asadjustable tongs, adjustable clamps, insertable rods, etc. Grabber 114is configured to deliver and attach crown 310 onto stump 320 afterremoval of intermediate portion 200. Thus, the grafting operation isperformed in conjunction with (e.g., during or immediately after) theharvesting operation. Attaching crown 310 to stump 320 takes advantageof existing root system 220 and enables sufficient support for a fullydeveloped crown 310. Existing root system 220 and crown 310 may allowfor swift regrowth of tree 150, which creates quickly realized futurere-harvesting opportunities.

In some embodiments, robotic mechanisms included on tree harvester 100allow for intermediate portion 200 to be harvested while crown 310 isgrafted to stump 320. For example, control system 120 can be configuredto provide robotic automation of the aforementioned process (e.g., toprovide an autonomous or semi-autonomous harvesting and graftingsystem). Because harvesting and/or grafting can be done quickly, crown310 and stump 320 experience limited exposure to potentially harmfulenvironmental conditions, such as bacteria, fungi, germs, and viruses.

Reusing stump 320 and grafting crown 310 onto stump 320 is aneco-friendly endeavor in that there is no root-system decay and/orcarbon emission from an otherwise oxidizing stump 320 and crown 310.Moreover, as crown 310 would be of otherwise little economic andcommercial value, here, crown 310 is effectively recycled to resurrectthe harvested tree. As such, carbon credits may be available due to thislack of carbon generation. The potential for monetary carbon credits mayincrease the financial appeal of the tree harvesting system disclosedherein.

Successful grafting typically requires bonding of the vascular cambiabetween the scion (crown) and stock (stump). Traditional methods ofgrafting include budding, approach, cleft, whip, and stub grafting.Because monocots have vascular bundles and not continuous vascularcambia like dicots, grafting is generally not possible in monocots dueto the impossibility of aligning the vascular bundles of monocots.However, the presence of continuous vascular cambia in most dicots oftenallows for successful grafting. The vascular cambia in dicots isresponsible for secondary growth in dicot trees, including production ofxylem and phloem, which is in turn responsible for lateral growth,including the formation of bark. Due to needing vascular cambia forsuccessful grafting, tree 150 is typically a member of the dicot family.As such, referring back to FIG. 3, tree 150 is shown having vascularcambia 360 in both crown 310 and stump 320.

Referring further to FIG. 3, according to one embodiment, in order tograft crown 310 to stump 320, control system 120 directs grabber 114 toalign vascular cambia 360 of the crown and stump when crown 310 isdelivered to stump 320. The location and/or size of vascular cambia 360in stump 320 and crown 310 can be obtained from sensor 115. As discussedabove, sensor 115 may employ wireless protocols 140 (FIG. 1) or sampler116 to determine the precise location of vascular cambia 360 andtransmit the location to control system 120. In some embodiments, sensor115 acquires information regarding the location and/or size of vascularcambia 360 from inspection of the exposed surfaces of crown 310 andstump 320 following removal of intermediate portion 200. Control ofgrabber 114 (lower, left, right, tilt, etc.) can then be automated viacontrol system 120.

According to another embodiment shown in FIG. 4, harvesting system 110includes coupling mechanism 350. Coupling mechanism 350 is configured toutilize at least one fastener 401. After grabber 114 places crown 310 onor near stump 320, coupling mechanism 350 uses/inserts fastener 401 tosecure crown 310 to stump 320, such that crown 310 can be directedparallel to existing stump 320 growth. According to another embodiment,crown 310 can be secured to stump 320 in a particular orientation topromote a desired tree regrowth direction.

Fastener 401 can include dowels, pegs, screws, spikes, and/or boltsconfigured to be inserted into crown 310 and stump 320. In someembodiments, fastener 401 can be or include one or more clamps fastenedcircumferentially to both crown 310 and stump 320; and/or scaffoldingconfigured to securely hold crown 310 to stump 320. In some embodiments,harvesting system 110 is configured to apply health promoting materials(e.g., antibacterial or antifungal treatments) to the stump and/or crownsurfaces before they are grafted together. In some embodiments,harvesting system 110 is configured to apply a dressing or a sealantaround exposed portions of the crown-stump joint to protect againstinvasion of foreign organisms.

Referring to FIGS. 3 and 5A, according to one embodiment shown,harvesting system 110 includes implanter 345 configured to use one ormore inserts 340. Inserts 340 are configured to be implanted viaimplanter 345 between crown 310 and stump 320, and to connect thevascular cambia 360 between crown 310 and stump 320. Multiple inserts340 are capable of being stored on harvester 100 and, therefore, beingimplanted to graft numerous crowns-to-stumps. Furthermore, storedinserts 340 can be of varying sizes to account for mismatching vascularcambia of crown 310 and stump 320.

In some embodiments, inserts 340 can be a three-dimensional printout ofartificial vascular cambia, recycled vascular cambia from compatibletrees, and/or artificial or non-artificial cells that produce vascularcambia. For example, referring to FIG. 5B, implanter 345 can be coupledto generator 500. Generator 500 is configured to produce or at leastpartially produce insert 340 (e.g., by using a three-dimensionalprinter), such that insert 340 can be configured to bond to vascularcambia 360 of crown 310 and stump 320. Generator 500 can produce insert340 while grabber 114 is holding crown 310 above stump 320.Alternatively, generator 500 can produce insert 340 before intermediateportion 200 is harvested, using pre-harvesting sensor information (e.g.,crown and stump diameters, size and location of vascular cambia, etc.).After production of insert 340, insert 340 is inserted between crown 310and stump 320. Grabber 114 then lowers crown 310 onto stump 320 and thegenerated insert 340 bonds with vascular cambia 360 of crown 310 andstump 320. Control system 120 can be configured to automate generationof insert 340 to insure a sufficient deposit for crown-to-stumpgrafting. As such, mismatching vascular cambia of crown 310 and stump320 can still be grafted without the need for surgical reconfigurationof one or both of crown 310 and stump 320.

Referring back to FIG. 3, in some embodiments harvesting system 110includes shaper 330 configured to modify the shape of at least one ofcrown 310 and stump 320 such that the vascular cambia 360 of crown 310and stump 320 overlap, or are aligned, when grabber 114 lowers crown 310onto stump 320. According to one embodiment, shaper 330 removes aninterior part (e.g., a cross-section) of at least one of crown 310 andstump 320. The removed portion can be cylindrical, conical, wedge,annular, and/or rectangular shaped. Additionally, the removed portioncan be tapered, such that crown 310 and stump 320 are more likely toalign and overlap. In some embodiments, material is removed from stump320 and/or crown 310 to allow for stretching or compacting as describedbelow. In some embodiments, complementary material is removed from bothstump 320 and crown 310 in order to reshape their interfacial surface;for instance a concave depression may be made in the surface of stump320, while exterior portions of the crown surface are removed to form amatching protrusion. Alternatively a depression may be formed in crown310 and a matching protrusion in stump 320. According to variousalternative embodiments, shaper 330 can include hydraulic, pneumatic,and/or electric chisels, drills, saws, axes, a mill, picks, and/or amaterial-removing laser. Shaper 330 can be controlled by operator 130 orautomated via control system 120.

Referring to FIG. 6A, tree 150 with section 600 removed by shaper 330 isshown according to one embodiment. Removing section 600 and determiningthe size and volume of section 600 to remove can be partially orcompletely automated/robotic via, for example, control system 120 (e.g.,based on data acquired by sensor 115 and/or by sampler 116, etc.), oralternatively, manual by operator 130. In addition to removing section600, shaper 330 can also taper edges 620. Tapered edges 620 allow forflush alignment between crown 310 and stump 320.

According to another embodiment, harvesting system 110 can be configuredto utilize a stretcher 630 (FIG. 6A). After section 600 is removed,stretcher 630 can be inserted into crown 310 where section 600 wasremoved (see FIG. 6A; shaper 330 is removed and stretcher 630 is placedinside of crown 310). In one embodiment, stretcher 630 can be configuredto be inserted by shaper 330 in section 600. In another embodiment,stretcher 630 can be inserted in section 600 by any other component oftree harvester 100. Stretcher 630 is configured to increase the diameterof crown 310. Insertion of stretcher 630 can be completelyautomated/robotic, or controlled manually by operator 130. Increasingthe diameter of crown 310 also increases the diameter of the crown'svascular cambium, thereby helping to align the vascular cambia 360 ofcrown 310 with stump 320. In some embodiments, a protrusion may beformed in the stump surface, matching the post-stretching shape of thecavity formed following the removal of section 600 from the crown.Stretcher 630 can be or include a spring, an expandable rod, anexpandable ring, a pressurized fluid, and/or an expandable cone.Stretcher 630 can be electric, hydraulic, and/or pneumatically driven,with power coming from the tree harvester or from an unconnected and/orremote power source. Stretcher 630 is capable of being controlled by anoperator or automated/robotically controlled by control system 120according to various alternative embodiments.

Referring to FIG. 6B, tree 150 with portion 640 of stump 320 removed byshaper 330 is shown according to one embodiment. In addition to taperingedges of crown 310, shaper 330 can also be configured to taper edges 650of stump 320 to lie flush with crown 310. According to one embodiment,harvesting system 110 can utilize compactor 660. In one embodiment,after portion 640 is removed from stump 320, compactor 660 is insertedinto stump 320. In this embodiment, shaper 330 inserts compactor 660into stump (see FIG. 6B where compactor 660 is shown in stump 320 andline 670 shows the travel of shaper 330). In another embodiment,compactor 660 can be inserted by any other component of tree harvester100. Compactor 660 is configured to decrease the diameter of stump 320.Decreasing the diameter of stump 320 aids in aligning vascular cambia360 of stump 320 and crown 310. In some embodiments, a protrusion may beformed in the crown surface, matching the post-compaction shape of thecavity formed following the removal of section 640 from the stump. Insome embodiments, the shape of removed portion 640 is selected so as tonot leave a substantial post-compaction cavity in stump 320 (e.g., byremoving annular regions corresponding to the difference between aninitial cylindrical shape and a post-compaction conical frustum).Compactor 660 can be or include a belt, a pressurized fluid, and/or acollapsible ring configured to fit around the stump 320 and “squeeze”the stump decrease the diameter. Compactor 660 can also be an insertablerod, configured to pull the stump inward, thereby decreasing itsdiameter. Compactor 660 can also include an adjustable clamp or tongs.The adjustable clamp and/or tongs can be manual, pneumatic, hydraulic,and/or electrically powered. Power can come from the tree harvesterdirectly or from an unconnected and/or remote power source. Compactor660 is capable of being controlled by an operator orautomated/robotically controlled by control system 120 according tovarious alternative embodiments.

In some embodiments, shaper 330 removes at least one of portion 640 andsection 630 in order to align vascular cambia 360 of crown 310 and stump320. Moreover, while stretcher 630 is shown in FIG. 6A as being used inconnection with crown 310, in various other embodiments, stretcher 630can also be applied to stump 320. Additionally, stretcher 630 can attachto the outside of crown 310 and/or stump 320. Similarly, while compactor660 is shown in FIG. 6B as being used in connection with stump 320, invarious other embodiments, compactor 660 can also be applied to crown310 (either on the outside of crown 310 or in the interior where section630 was removed).

According to alternative embodiments, control system 120 can control thedeployment and/or use of stretcher 630 and/or compactor 660. Asdescribed above, sensor 115 employs wireless protocols 140 or sampler116 to acquire data about the location of the vascular cambia in crown310 and stump 320. The location data is then transmitted to controlsystem 120 such that control system 120 or operator 130 can determinewhether to use shaper 330 on crown 310 and/or stump 320, and whether touse stretcher 630 and/or compactor 660. For example, sensor 115 mayprovide real-time video to operator 130 regarding how much material hasbeen removed by shaper 330 to allow for real-time review and control. Inthe alternative, these decisions can be completely automated/robotic bycontrol system 120 (e.g., by a computer analysis of tree-related datacaptured by sensor 115).

Referring to FIG. 7, control system 120 in communication and coupledwith harvesting system 110 is shown according to one embodiment. Controlsystem 120 includes processor 700, memory 710, power supply 720, input730, output 740, and operator input/output device 750. Operatorinput/output device 750 is configured to allow an operator to inputhis/her commands into control system 120 (e.g., via computer displaytouchscreen, or a smartphone, etc.). In an alternative embodiment,robotic control of harvesting system 110 is accomplished via processor700 of control system 120. Input 730 is configured to receiveinformation acquired by harvesting system 110 (e.g., informationregarding one or more trees) and/or other remote devices. Output 740 isconfigured to transmit commands (e.g., control signals, etc.) fromcontrol system 120 to harvesting system 110 (e.g., to initiateharvesting and/or grafting of one or more trees).

Power supply 720 provides power to control system 120. Power supply 720may receive power from any suitable source (e.g., rechargeable battery,non-rechargeable battery, etc.). Power supply 720 may also receive powerthrough wireless inductive power, by converting mechanical energypresent from operation of tree harvester into electrical energy, fromsolar cells, and/or through photovoltaic cells, etc.

Operator input/output device 750 can receive data from an operator. Thedata can include desired tree characteristics, such as minimum/maximumvolume, diameter, and height of intermediate section; photosyntheticcapture of the crown; health of tree, including presence or absence ofharmful bacteria, viruses, and fungi, age of tree, health ofroot-system, coverage area of root-system location of tree in regard tosolar accessibility, type of tree, etc. Based on these characteristics,control system 120 can operate sensor 115 to acquire such data. Afterthis data is acquired, it is then received via input 730 and can bestored in memory 710. Processor 700 then determines, based on theacquired data, whether to select such a tree for harvesting. In analternative embodiment, the data is transmitted back to the operatorsuch that the operator can select whether to harvest the tree based onthe data. Operator input/output device 750 can also be configured todisplay the data to the operator, such that the operator can inputcommands based on the data (e.g., select tree for harvesting).

Assuming processor 700 or, in the alternative embodiment, the operatordetermines to harvest a particular tree, harvesting system 110 iscontrolled to do so via output 740 of control system 120. Harvestingsystem 120 can utilize on or more of sensor 115, grabber 114, couplingmechanism 350, shaper 330, implanter 345 with insert 340 (alternatively,generator 500 that produces insert 340), cutters 111 and 112, loader113, stretcher 630, and compactor 660 to harvest and/or graft the treeand tree portions

In one embodiment, power supply 760 is included in harvesting system110, such that power supply 760 is configured to power the componentsand sub-components of harvesting system 110. In an alternativeembodiment, power supply 720 of control system 120 can provide some orall of the required power to harvesting system 110 (e.g., via, inaddition to, or instead of, power supply 760). Power supply 760 canreceive power from any suitable source, including conversion ofmechanical energy to electrical energy from operation of the treeharvester, photovoltaic cells included in the tree harvester, chargeableand/or non-rechargeable batteries included in the tree harvester, solarcells included on the tree harvester, etc. Power supply 760 and/or powersupply 720 are capable of providing suitable electric, hydraulic, andpneumatic power to operate the various components and sub-components ofharvesting system 110.

Sensor 115, grabber 114, coupling mechanism 350, shaper 330, implanter345 with insert 340 (alternatively, generator 500 that produces insert340), cutters 111 and 112, loader 113, stretcher 630, and compactor 660are controllable based on various inputs to the harvesting system. Forexample, based on the data acquired by sensor 115, processor 700determines whether to select a tree for harvesting, what type of andwhen to employ insert 401, or, whether and how shaper 330 should be usedon the remaining crown and stump of the tree. Determining if, when, andhow to employ grabber 114, coupling mechanism 350, shaper 330, implanter345 with insert 340 (alternatively, generator 500), cutters 111 and 112,loader 113, stretcher 630, and/or compactor 660 can be semi- orcompletely automated/robotic, or alternatively, can be partially orwholly operator controlled via operator input/output device 750.

Referring now to FIG. 8, method 800 for harvesting intermediate portionsof trees is shown according to one embodiment. Data regarding one ormore trees is acquired using a sensor (801). Sensors can include x-ray,video cameras, microwave, laser, ultrasonic, and lidar devices,transmitters, transceivers, etc. As discussed above, the data acquiredmay include minimum/maximum volume, diameter, and height of intermediatesection; photosynthetic capture of the crown; an indication of thehealth of tree, including presence or absence of harmful bacteria,viruses, and fungi; an indication of the age of tree; an indication ofthe health of root-system; coverage area of root-system; location oftree in regard to solar accessibility; an indication of the type oftree; etc. Next, one or more trees is selected based on the data (802).An intermediate portion of the selected tree between the crown and stumpis then removed (803). After removing the intermediate portion, thevascular cambia of the crown and stump are aligned and the remainingcrown is grafted to the remaining stump (804), thereby initiating quickregrowth of such tree.

According to an alternative embodiment, rather than attaching a crownand a stump of one tree together, the crown is attached to a stump of adifferent tree (804A). This may be done for a variety of reasons: betteralignment of vascular cambia; compatibility of health characteristics;presence of unwanted fungi, germs, viruses, and bacteria in the would-bestump used for grafting; and/or better location for the grafted tree dueto solar accessibility. As such, control system 120 may in someembodiments be configured to store various data about a number of trees(e.g., age, health, tree size, etc.), and suggest matches of crowns andstumps of different trees to optimize the harvesting and graftingprocesses (e.g., maximize the regrowth potential of the harvested trees,etc.).

According to a further embodiment, method 800 further comprisingdetermining an environmental impact due to the harvesting and grafting.Based on the level of environmental impact, applying for a credit (e.g.,carbon credit, etc.) based on that level. This transforms method 800into an eco-friendly operation likely appealable to many treeharvesters.

Referring to FIG. 9, method 900 of grafting a crown to a stump afterharvesting an intermediate portion of a tree is shown according to oneembodiment. First, data regarding one or more crowns and stumps isacquired using a sensor (901). Sensors can include x-ray, video cameras,microwave, laser, ultrasonic, ultrasound, and lidar devices,transmitters, transceivers, etc. As mentioned above, crown and/or stumpdata can include the presence of vascular cambia, xylem, and phloem;height and diameter of the crown; height and diameter of the stump; anindication of the health of vascular cambia, xylem, and phloem includingpresence or absence of bacteria, germs, fungi and viruses; location ofvascular cambia; an indication of root-system health; photosyntheticcapture area of crown; and an indication of the tree type and age. Basedon the data acquired, a control system automatically/roboticallydetermines the compatibility of the crown and stump for grafting (902).In an alternative embodiment, compatibility can be determined based onthe judgment of an operator. If the crown and stump are compatible, thecrown is grafted to the stump (906). Grafting of the crown to the stumpcan be accomplished robotically by the control system and harvestingsystem (described in detail above).

If the stump and crown are not compatible (902), then there are variousother options. First, the crown may be compatible with a different stump(903) in which case, the crown and other stump may be grafted (906).Second, reconfiguration/modification of the stump and/or crown may benecessary for successful grafting. As such, the stump and/or crown maybe reformed/modified (904) and then grafted together (906). Modifyingand grafting may include using a shaper (described above) and removing asection of the crown and/or a portion of the stump in order to align thevascular cambia. In addition, a compactor and/or stretcher (describedabove) may also be employed to achieve the desired location/orientationof the vascular cambia in the crown and/or stump. Third, if reforming isnot done, an insert may be used (and/or generated) (905). The crown andstump can then be grafted together (906). In some embodiments, method900 further includes applying a sealant to an exposed portion of a jointbetween the grafted crown and stump to protect against invasion offoreign organisms.

According to an alternative embodiment, prior to grafting (906), any oneor a combination of attaching a crown to a stump of a different tree(903), modifying at least one of the crown and stump (904), and using aninsert (905) may be employed. As each situation may be different, one ormore of the processes may be used to insure alignment of the vascularcambia and compatibility of the crown and stump to achieve a successfultree graft.

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata which cause a general purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

Although the figures may show a specific order of method steps, theorder of the steps may differ from what is depicted. Also two or moresteps may be performed concurrently or with partial concurrence. Suchvariation will depend on the software and hardware systems chosen and onoperator choice. All such variations are within the scope of the presentdisclosure. Likewise, software implementations could be accomplishedwith standard programming techniques with rule based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps and decision steps.

While various aspects and embodiments have been disclosed herein, otheraspects and embodiments will be apparent to those skilled in the art.The various aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A vehicle for tree harvesting, comprising: abody; a harvesting system coupled to the body comprising: first andsecond cutters configured to remove an intermediate portion of astanding tree below a tree crown and above a tree stump; and a couplingmechanism configured to apply a fastener to at least one of the treecrown and tree stump, the fastener configured to graft the tree crown tothe tree stump; and a control system coupled to the body and configuredto: receive data from the harvesting system regarding a characteristicof the standing tree; and control operation of the harvesting systembased on the data.
 2. The vehicle of claim 1, wherein the control systemis further configured to identify the standing tree for harvesting andgrafting based on the data.
 3. The vehicle of claim 1, wherein thecontrol system is further configured to receive data from the harvestingsystem regarding a characteristic of the tree stump.
 4. The vehicle ofclaim 1, wherein the first cutter is configured to remove theintermediate portion from the tree crown.
 5. The vehicle of claim 4,wherein the second cutter is configured to remove the intermediateportion from a stump of the standing tree.
 6. The vehicle of claim 1,wherein the harvesting system includes a sampler configured to acquirethe data regarding the characteristic, the characteristic includinginformation regarding at least one of the intermediate portion, the treecrown, and the tree stump.
 7. The vehicle of claim 1, wherein theharvesting system further comprises a storage area configured to holdthe intermediate portion.
 8. The vehicle of claim 7, wherein theharvesting system further comprises a loader configured to deliver theintermediate portion to the storage area.
 9. The vehicle of claim 1,wherein the harvesting system further comprises a grabber configured tohold and transport the tree crown.
 10. The vehicle of claim 1, whereinthe fastener is configured to secure the tree crown to the tree stump ina specific orientation to promote a particular tree regrowth direction.11. A vehicle for tree harvesting comprising: a body; a harvestingsystem coupled to the body, the harvesting system including first andsecond cutters and a coupling mechanism configured to apply a fastener;and a control system coupled to the body and configured to: receive datafrom the harvesting system regarding a characteristic of a standingtree; and control operation of the harvesting system based on the data;wherein the harvesting system is configured to: support a crown of thestanding tree; remove, via the first and second cutters, an intermediateportion of the harvested standing tree below the crown; connect avascular cambium of the crown to a vascular cambium of a tree stumpusing an insert while supporting the crown; and apply the fastener to atleast one of the tree crown and tree stump to facilitate grafting of thetree crown to the tree stump.
 12. The vehicle of claim 11, wherein thedata includes information about at least one of the diameter, anindication of age and health, length, and volume of the intermediateportion.
 13. The vehicle of claim 11, wherein the data includesinformation about at least one of the diameter, length, approximatehealth, extent of leaf coverage, photosynthetic capture area, and anindication of the presence and health of the vascular cambia, xylem, andphloem of the crown.
 14. The vehicle of claim 11, wherein the dataincludes information about at least one of the presence and health oflateral and primary roots, root hairs, root tip, root cap, beneathground root-occupied area, a height, a diameter, and an indication ofthe presence and health of the vascular cambia, xylem, and phloem of thetree stump.
 15. The vehicle of claim 11, wherein the harvesting systemfurther includes an implanter configured to implant the insert betweenthe crown and the tree stump.
 16. The vehicle of claim 11, wherein theharvesting system is configured to store multiple inserts.
 17. Thevehicle of claim 16, wherein the multiple inserts are capable of beingvarious sizes.
 18. The vehicle of claim 11, wherein the harvestingsystem further includes a generator coupled to the implanter.
 19. Thevehicle of claim 18, wherein the generator is configured to at leastpartially produce the insert.
 20. The vehicle of claim 18, wherein thegenerator comprises a three-dimensional printer configured to printartificial vascular cambia.
 21. The vehicle of claim 11, wherein theinsert includes a three-dimensional printout of artificial vascularcambia.
 22. The vehicle of claim 11, wherein the insert includes arecycled vascular cambia from compatible trees.
 23. The vehicle of claim11, wherein the insert includes artificial cells that produce vascularcambia.
 24. The vehicle of claim 11, wherein the insert includesnon-artificial cells that produce vascular cambia.
 25. A vehicle fortree harvesting comprising: a body; a harvesting system coupled to thebody, the harvesting system including at least one cutter and a couplingmechanism configured to apply a fastener; a control system coupled tothe body and configured to: receive data from the harvesting systemregarding a characteristic of a standing tree; and control operation ofthe harvesting system based on the data; wherein the harvesting systemis configured to: remove, via the at least one cutter, an intermediateportion of the standing tree below a tree crown; use a shaper to modifythe shape of at least one of the tree crown and a tree stump; and applythe fastener to at least one of the tree crown and tree stump to graftthe tree crown to the tree stump.
 26. The vehicle of claim 25, whereinthe shaper is configured to remove a portion of at least one of the treecrown and the tree stump.
 27. The vehicle of claim 25, wherein theshaper is configured to taper an edge of at least one of the tree crownand the tree stump.
 28. The vehicle of claim 25, wherein the harvestingsystem further includes a stretcher configured to be inserted by theharvesting system.
 29. The vehicle of claim 28, wherein the stretcher isconfigured to increase the diameter of at least one of the tree crownand the tree stump to align a vascular cambium.
 30. The vehicle of claim28, wherein the stretcher is configured to be inserted into the portionremoved by the shaper in at least one of the tree crown and the treestump.
 31. The vehicle of claim 25, wherein the harvesting systemfurther includes a compactor configured to be inserted by the harvestingsystem, the compactor configured to decrease the diameter of at leastone of the tree crown and the tree stump to align a vascular cambium ofthe tree crown to the tree stump.
 32. The vehicle of claim 31, whereinthe compactor is configured to fit on the outside of at least one of thetree crown and the tree stump.